//
// Created by wangguan on 2021/12/28.
//

#ifndef IMU_ALGORITHM_V2_0_1EARTHMYDEFINE_H
#define IMU_ALGORITHM_V2_0_1EARTHMYDEFINE_H

const double we = 7.2921151467e-5;//地球自转角速度，rad/s
const double a = 6378137.0;
const double e2 = 0.0066943799013;

/*grs80求解重力*/
const double b = 6356752.3141;
const double f = 1.0 / 298.257222101;
const double GM = 3.986005e14;
const double grammaA = 9.7803267715;
const double grammaB = 9.8321863685;

#endif //IMU_ALGORITHM_V2_0_1EARTHMYDEFINE_H
